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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">point_pluecker_line_to_hom_mat3d</span><span data-if="c" style="display:none;">T_point_pluecker_line_to_hom_mat3d</span><span data-if="cpp" style="display:none;">PointPlueckerLineToHomMat3d</span><span data-if="dotnet" style="display:none;">PointPlueckerLineToHomMat3d</span><span data-if="python" style="display:none;">point_pluecker_line_to_hom_mat3d</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">point_pluecker_line_to_hom_mat3d</span><span data-if="c" style="display:none;">T_point_pluecker_line_to_hom_mat3d</span><span data-if="cpp" style="display:none;">PointPlueckerLineToHomMat3d</span><span data-if="dotnet" style="display:none;">PointPlueckerLineToHomMat3d</span><span data-if="python" style="display:none;">point_pluecker_line_to_hom_mat3d</span></code> — Approximate a 3D affine transformation from 3D point-to-line
correspondences.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>point_pluecker_line_to_hom_mat3d</b>( :  : <a href="#TransformationType"><i>TransformationType</i></a>, <a href="#PointX"><i>PointX</i></a>, <a href="#PointY"><i>PointY</i></a>, <a href="#PointZ"><i>PointZ</i></a>, <a href="#LineDirectionX"><i>LineDirectionX</i></a>, <a href="#LineDirectionY"><i>LineDirectionY</i></a>, <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, <a href="#LineMomentX"><i>LineMomentX</i></a>, <a href="#LineMomentY"><i>LineMomentY</i></a>, <a href="#LineMomentZ"><i>LineMomentZ</i></a> : <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_point_pluecker_line_to_hom_mat3d</b>(const Htuple <a href="#TransformationType"><i>TransformationType</i></a>, const Htuple <a href="#PointX"><i>PointX</i></a>, const Htuple <a href="#PointY"><i>PointY</i></a>, const Htuple <a href="#PointZ"><i>PointZ</i></a>, const Htuple <a href="#LineDirectionX"><i>LineDirectionX</i></a>, const Htuple <a href="#LineDirectionY"><i>LineDirectionY</i></a>, const Htuple <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, const Htuple <a href="#LineMomentX"><i>LineMomentX</i></a>, const Htuple <a href="#LineMomentY"><i>LineMomentY</i></a>, const Htuple <a href="#LineMomentZ"><i>LineMomentZ</i></a>, Htuple* <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>PointPlueckerLineToHomMat3d</b>(const HTuple&amp; <a href="#TransformationType"><i>TransformationType</i></a>, const HTuple&amp; <a href="#PointX"><i>PointX</i></a>, const HTuple&amp; <a href="#PointY"><i>PointY</i></a>, const HTuple&amp; <a href="#PointZ"><i>PointZ</i></a>, const HTuple&amp; <a href="#LineDirectionX"><i>LineDirectionX</i></a>, const HTuple&amp; <a href="#LineDirectionY"><i>LineDirectionY</i></a>, const HTuple&amp; <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, const HTuple&amp; <a href="#LineMomentX"><i>LineMomentX</i></a>, const HTuple&amp; <a href="#LineMomentY"><i>LineMomentY</i></a>, const HTuple&amp; <a href="#LineMomentZ"><i>LineMomentZ</i></a>, HTuple* <a href="#HomMat3D"><i>HomMat3D</i></a>)</code></p>
<p>
<code>void <a href="HHomMat3D.html">HHomMat3D</a>::<b>PointPlueckerLineToHomMat3d</b>(const HString&amp; <a href="#TransformationType"><i>TransformationType</i></a>, const HTuple&amp; <a href="#PointX"><i>PointX</i></a>, const HTuple&amp; <a href="#PointY"><i>PointY</i></a>, const HTuple&amp; <a href="#PointZ"><i>PointZ</i></a>, const HTuple&amp; <a href="#LineDirectionX"><i>LineDirectionX</i></a>, const HTuple&amp; <a href="#LineDirectionY"><i>LineDirectionY</i></a>, const HTuple&amp; <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, const HTuple&amp; <a href="#LineMomentX"><i>LineMomentX</i></a>, const HTuple&amp; <a href="#LineMomentY"><i>LineMomentY</i></a>, const HTuple&amp; <a href="#LineMomentZ"><i>LineMomentZ</i></a>)</code></p>
<p>
<code>void <a href="HHomMat3D.html">HHomMat3D</a>::<b>PointPlueckerLineToHomMat3d</b>(const char* <a href="#TransformationType"><i>TransformationType</i></a>, const HTuple&amp; <a href="#PointX"><i>PointX</i></a>, const HTuple&amp; <a href="#PointY"><i>PointY</i></a>, const HTuple&amp; <a href="#PointZ"><i>PointZ</i></a>, const HTuple&amp; <a href="#LineDirectionX"><i>LineDirectionX</i></a>, const HTuple&amp; <a href="#LineDirectionY"><i>LineDirectionY</i></a>, const HTuple&amp; <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, const HTuple&amp; <a href="#LineMomentX"><i>LineMomentX</i></a>, const HTuple&amp; <a href="#LineMomentY"><i>LineMomentY</i></a>, const HTuple&amp; <a href="#LineMomentZ"><i>LineMomentZ</i></a>)</code></p>
<p>
<code>void <a href="HHomMat3D.html">HHomMat3D</a>::<b>PointPlueckerLineToHomMat3d</b>(const wchar_t* <a href="#TransformationType"><i>TransformationType</i></a>, const HTuple&amp; <a href="#PointX"><i>PointX</i></a>, const HTuple&amp; <a href="#PointY"><i>PointY</i></a>, const HTuple&amp; <a href="#PointZ"><i>PointZ</i></a>, const HTuple&amp; <a href="#LineDirectionX"><i>LineDirectionX</i></a>, const HTuple&amp; <a href="#LineDirectionY"><i>LineDirectionY</i></a>, const HTuple&amp; <a href="#LineDirectionZ"><i>LineDirectionZ</i></a>, const HTuple&amp; <a href="#LineMomentX"><i>LineMomentX</i></a>, const HTuple&amp; <a href="#LineMomentY"><i>LineMomentY</i></a>, const HTuple&amp; <a href="#LineMomentZ"><i>LineMomentZ</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
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<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>PointPlueckerLineToHomMat3d</b>(<a href="HTuple.html">HTuple</a> <a href="#TransformationType"><i>transformationType</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointX"><i>pointX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointY"><i>pointY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointZ"><i>pointZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionX"><i>lineDirectionX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionY"><i>lineDirectionY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionZ"><i>lineDirectionZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentX"><i>lineMomentX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentY"><i>lineMomentY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentZ"><i>lineMomentZ</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#HomMat3D"><i>homMat3D</i></a>)</code></p>
<p>
<code>void <a href="HHomMat3D.html">HHomMat3D</a>.<b>PointPlueckerLineToHomMat3d</b>(string <a href="#TransformationType"><i>transformationType</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointX"><i>pointX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointY"><i>pointY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#PointZ"><i>pointZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionX"><i>lineDirectionX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionY"><i>lineDirectionY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineDirectionZ"><i>lineDirectionZ</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentX"><i>lineMomentX</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentY"><i>lineMomentY</i></a>, <a href="HTuple.html">HTuple</a> <a href="#LineMomentZ"><i>lineMomentZ</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>point_pluecker_line_to_hom_mat3d</b>(<a href="#TransformationType"><i>transformation_type</i></a>: str, <a href="#PointX"><i>point_x</i></a>: Sequence[float], <a href="#PointY"><i>point_y</i></a>: Sequence[float], <a href="#PointZ"><i>point_z</i></a>: Sequence[float], <a href="#LineDirectionX"><i>line_direction_x</i></a>: Sequence[Union[float, int]], <a href="#LineDirectionY"><i>line_direction_y</i></a>: Sequence[Union[float, int]], <a href="#LineDirectionZ"><i>line_direction_z</i></a>: Sequence[Union[float, int]], <a href="#LineMomentX"><i>line_moment_x</i></a>: Sequence[Union[float, int]], <a href="#LineMomentY"><i>line_moment_y</i></a>: Sequence[Union[float, int]], <a href="#LineMomentZ"><i>line_moment_z</i></a>: Sequence[Union[float, int]]) -&gt; Sequence[float]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">point_pluecker_line_to_hom_mat3d</span><span data-if="c" style="display:none">point_pluecker_line_to_hom_mat3d</span><span data-if="cpp" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="com" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="dotnet" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="python" style="display:none">point_pluecker_line_to_hom_mat3d</span></code> approximates a 3D affine
transformation from 3D point-to-line correspondences and returns it
as the homogeneous transformation matrix <a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a>.
The input tuples must be of same length and determine at least
3 point-to-line correspondences.
The corresponding points and lines must be at the same index positions in
the tuples.
The points are given by
(<a href="#PointX"><i><code><span data-if="hdevelop" style="display:inline">PointX</span><span data-if="c" style="display:none">PointX</span><span data-if="cpp" style="display:none">PointX</span><span data-if="com" style="display:none">PointX</span><span data-if="dotnet" style="display:none">pointX</span><span data-if="python" style="display:none">point_x</span></code></i></a>, <a href="#PointY"><i><code><span data-if="hdevelop" style="display:inline">PointY</span><span data-if="c" style="display:none">PointY</span><span data-if="cpp" style="display:none">PointY</span><span data-if="com" style="display:none">PointY</span><span data-if="dotnet" style="display:none">pointY</span><span data-if="python" style="display:none">point_y</span></code></i></a>, <a href="#PointZ"><i><code><span data-if="hdevelop" style="display:inline">PointZ</span><span data-if="c" style="display:none">PointZ</span><span data-if="cpp" style="display:none">PointZ</span><span data-if="com" style="display:none">PointZ</span><span data-if="dotnet" style="display:none">pointZ</span><span data-if="python" style="display:none">point_z</span></code></i></a>).
The lines are given by their Plücker coordinates
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    <use xlink:href="#GLYPHcmbx10_76"></use>
  </g>
</svg></span>
(<a href="#LineDirectionX"><i><code><span data-if="hdevelop" style="display:inline">LineDirectionX</span><span data-if="c" style="display:none">LineDirectionX</span><span data-if="cpp" style="display:none">LineDirectionX</span><span data-if="com" style="display:none">LineDirectionX</span><span data-if="dotnet" style="display:none">lineDirectionX</span><span data-if="python" style="display:none">line_direction_x</span></code></i></a>, <a href="#LineDirectionY"><i><code><span data-if="hdevelop" style="display:inline">LineDirectionY</span><span data-if="c" style="display:none">LineDirectionY</span><span data-if="cpp" style="display:none">LineDirectionY</span><span data-if="com" style="display:none">LineDirectionY</span><span data-if="dotnet" style="display:none">lineDirectionY</span><span data-if="python" style="display:none">line_direction_y</span></code></i></a>, <a href="#LineDirectionZ"><i><code><span data-if="hdevelop" style="display:inline">LineDirectionZ</span><span data-if="c" style="display:none">LineDirectionZ</span><span data-if="cpp" style="display:none">LineDirectionZ</span><span data-if="com" style="display:none">LineDirectionZ</span><span data-if="dotnet" style="display:none">lineDirectionZ</span><span data-if="python" style="display:none">line_direction_z</span></code></i></a>)
and <span title="2" style="vertical-align:-0.0917759em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.21358em" height="0.808552em" viewBox="0 0 19.417358 12.936829">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.307312 11.468414)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
</svg></span>
(<a href="#LineMomentX"><i><code><span data-if="hdevelop" style="display:inline">LineMomentX</span><span data-if="c" style="display:none">LineMomentX</span><span data-if="cpp" style="display:none">LineMomentX</span><span data-if="com" style="display:none">LineMomentX</span><span data-if="dotnet" style="display:none">lineMomentX</span><span data-if="python" style="display:none">line_moment_x</span></code></i></a>, <a href="#LineMomentY"><i><code><span data-if="hdevelop" style="display:inline">LineMomentY</span><span data-if="c" style="display:none">LineMomentY</span><span data-if="cpp" style="display:none">LineMomentY</span><span data-if="com" style="display:none">LineMomentY</span><span data-if="dotnet" style="display:none">lineMomentY</span><span data-if="python" style="display:none">line_moment_y</span></code></i></a>, <a href="#LineMomentZ"><i><code><span data-if="hdevelop" style="display:inline">LineMomentZ</span><span data-if="c" style="display:none">LineMomentZ</span><span data-if="cpp" style="display:none">LineMomentZ</span><span data-if="com" style="display:none">LineMomentZ</span><span data-if="dotnet" style="display:none">lineMomentZ</span><span data-if="python" style="display:none">line_moment_z</span></code></i></a>)
For the definition of Plücker coordinates, see
<code>“Solution Guide III-C - 3D Vision”</code>.
</p>
<p>The type of the 3D transformation to compute is specified with
<a href="#TransformationType"><i><code><span data-if="hdevelop" style="display:inline">TransformationType</span><span data-if="c" style="display:none">TransformationType</span><span data-if="cpp" style="display:none">TransformationType</span><span data-if="com" style="display:none">TransformationType</span><span data-if="dotnet" style="display:none">transformationType</span><span data-if="python" style="display:none">transformation_type</span></code></i></a>.
For <a href="#TransformationType"><i><code><span data-if="hdevelop" style="display:inline">TransformationType</span><span data-if="c" style="display:none">TransformationType</span><span data-if="cpp" style="display:none">TransformationType</span><span data-if="com" style="display:none">TransformationType</span><span data-if="dotnet" style="display:none">transformationType</span><span data-if="python" style="display:none">transformation_type</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'rigid'</span><span data-if="c" style="display:none">"rigid"</span><span data-if="cpp" style="display:none">"rigid"</span><span data-if="com" style="display:none">"rigid"</span><span data-if="dotnet" style="display:none">"rigid"</span><span data-if="python" style="display:none">"rigid"</span></i>, a rigid 3D
transformation (a rotation and a translation) is computed.
This is the only transformation type that is supported at the moment.
</p>
<p>Note that for the minimum number of 3 correspondences, up to 8 valid
solutions are possible.
<code><span data-if="hdevelop" style="display:inline">point_pluecker_line_to_hom_mat3d</span><span data-if="c" style="display:none">point_pluecker_line_to_hom_mat3d</span><span data-if="cpp" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="com" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="dotnet" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="python" style="display:none">point_pluecker_line_to_hom_mat3d</span></code> returns an arbitrarily chosen valid
solution in this case.
If a unique solution is desired, at least 4 correspondences should be
specified. Furthermore, note that no well-defined solution exists if all lines
are parallel. In this case, <code><span data-if="hdevelop" style="display:inline">point_pluecker_line_to_hom_mat3d</span><span data-if="c" style="display:none">point_pluecker_line_to_hom_mat3d</span><span data-if="cpp" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="com" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="dotnet" style="display:none">PointPlueckerLineToHomMat3d</span><span data-if="python" style="display:none">point_pluecker_line_to_hom_mat3d</span></code> returns
an error.
</p>
<p>The returned transformation minimizes the sum of the squared
orthogonal distances of the points transformed with
<a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a> from their corresponding lines
(see <a href="distance_point_pluecker_line.html"><code><span data-if="hdevelop" style="display:inline">distance_point_pluecker_line</span><span data-if="c" style="display:none">distance_point_pluecker_line</span><span data-if="cpp" style="display:none">DistancePointPlueckerLine</span><span data-if="com" style="display:none">DistancePointPlueckerLine</span><span data-if="dotnet" style="display:none">DistancePointPlueckerLine</span><span data-if="python" style="display:none">distance_point_pluecker_line</span></code></a>).
</p>
<p><a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a> can be used directly with operators that transform
3D data using affine transformations, e.g., <a href="affine_trans_point_3d.html"><code><span data-if="hdevelop" style="display:inline">affine_trans_point_3d</span><span data-if="c" style="display:none">affine_trans_point_3d</span><span data-if="cpp" style="display:none">AffineTransPoint3d</span><span data-if="com" style="display:none">AffineTransPoint3d</span><span data-if="dotnet" style="display:none">AffineTransPoint3d</span><span data-if="python" style="display:none">affine_trans_point_3d</span></code></a>.
To transform lines given in Plücker coordinates, 该算子
<a href="dual_quat_trans_line_3d.html"><code><span data-if="hdevelop" style="display:inline">dual_quat_trans_line_3d</span><span data-if="c" style="display:none">dual_quat_trans_line_3d</span><span data-if="cpp" style="display:none">DualQuatTransLine3d</span><span data-if="com" style="display:none">DualQuatTransLine3d</span><span data-if="dotnet" style="display:none">DualQuatTransLine3d</span><span data-if="python" style="display:none">dual_quat_trans_line_3d</span></code></a> can be used.
Here, <a href="#HomMat3D"><i><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></i></a> must be converted into a pose using
<a href="hom_mat3d_to_pose.html"><code><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></code></a>, the pose must be inverted using
<a href="pose_invert.html"><code><span data-if="hdevelop" style="display:inline">pose_invert</span><span data-if="c" style="display:none">pose_invert</span><span data-if="cpp" style="display:none">PoseInvert</span><span data-if="com" style="display:none">PoseInvert</span><span data-if="dotnet" style="display:none">PoseInvert</span><span data-if="python" style="display:none">pose_invert</span></code></a> and then converted into a dual quaternion using
<a href="pose_to_dual_quat.html"><code><span data-if="hdevelop" style="display:inline">pose_to_dual_quat</span><span data-if="c" style="display:none">pose_to_dual_quat</span><span data-if="cpp" style="display:none">PoseToDualQuat</span><span data-if="com" style="display:none">PoseToDualQuat</span><span data-if="dotnet" style="display:none">PoseToDualQuat</span><span data-if="python" style="display:none">pose_to_dual_quat</span></code></a>.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="TransformationType" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TransformationType</span><span data-if="c" style="display:none">TransformationType</span><span data-if="cpp" style="display:none">TransformationType</span><span data-if="com" style="display:none">TransformationType</span><span data-if="dotnet" style="display:none">transformationType</span><span data-if="python" style="display:none">transformation_type</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Type of the transformation to compute.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'rigid'</span>
    <span data-if="c" style="display:none">"rigid"</span>
    <span data-if="cpp" style="display:none">"rigid"</span>
    <span data-if="com" style="display:none">"rigid"</span>
    <span data-if="dotnet" style="display:none">"rigid"</span>
    <span data-if="python" style="display:none">"rigid"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'rigid'</span><span data-if="c" style="display:none">"rigid"</span><span data-if="cpp" style="display:none">"rigid"</span><span data-if="com" style="display:none">"rigid"</span><span data-if="dotnet" style="display:none">"rigid"</span><span data-if="python" style="display:none">"rigid"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="PointX" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PointX</span><span data-if="c" style="display:none">PointX</span><span data-if="cpp" style="display:none">PointX</span><span data-if="com" style="display:none">PointX</span><span data-if="dotnet" style="display:none">pointX</span><span data-if="python" style="display:none">point_x</span></code></b> (input_control)  </span><span>point3d.x-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">X coordinate of the original points.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="PointY" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PointY</span><span data-if="c" style="display:none">PointY</span><span data-if="cpp" style="display:none">PointY</span><span data-if="com" style="display:none">PointY</span><span data-if="dotnet" style="display:none">pointY</span><span data-if="python" style="display:none">point_y</span></code></b> (input_control)  </span><span>point3d.y-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Y coordinate of the original points.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="PointZ" class="parname"><b><code><span data-if="hdevelop" style="display:inline">PointZ</span><span data-if="c" style="display:none">PointZ</span><span data-if="cpp" style="display:none">PointZ</span><span data-if="com" style="display:none">PointZ</span><span data-if="dotnet" style="display:none">pointZ</span><span data-if="python" style="display:none">point_z</span></code></b> (input_control)  </span><span>point3d.z-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Z coordinate of the original points.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineDirectionX" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineDirectionX</span><span data-if="c" style="display:none">LineDirectionX</span><span data-if="cpp" style="display:none">LineDirectionX</span><span data-if="com" style="display:none">LineDirectionX</span><span data-if="dotnet" style="display:none">lineDirectionX</span><span data-if="python" style="display:none">line_direction_x</span></code></b> (input_control)  </span><span>point3d.x-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">X component of the direction vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineDirectionY" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineDirectionY</span><span data-if="c" style="display:none">LineDirectionY</span><span data-if="cpp" style="display:none">LineDirectionY</span><span data-if="com" style="display:none">LineDirectionY</span><span data-if="dotnet" style="display:none">lineDirectionY</span><span data-if="python" style="display:none">line_direction_y</span></code></b> (input_control)  </span><span>point3d.y-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Y component of the direction vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineDirectionZ" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineDirectionZ</span><span data-if="c" style="display:none">LineDirectionZ</span><span data-if="cpp" style="display:none">LineDirectionZ</span><span data-if="com" style="display:none">LineDirectionZ</span><span data-if="dotnet" style="display:none">lineDirectionZ</span><span data-if="python" style="display:none">line_direction_z</span></code></b> (input_control)  </span><span>point3d.z-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Z component of the direction vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineMomentX" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineMomentX</span><span data-if="c" style="display:none">LineMomentX</span><span data-if="cpp" style="display:none">LineMomentX</span><span data-if="com" style="display:none">LineMomentX</span><span data-if="dotnet" style="display:none">lineMomentX</span><span data-if="python" style="display:none">line_moment_x</span></code></b> (input_control)  </span><span>point3d.x-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">X component of the moment vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineMomentY" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineMomentY</span><span data-if="c" style="display:none">LineMomentY</span><span data-if="cpp" style="display:none">LineMomentY</span><span data-if="com" style="display:none">LineMomentY</span><span data-if="dotnet" style="display:none">lineMomentY</span><span data-if="python" style="display:none">line_moment_y</span></code></b> (input_control)  </span><span>point3d.y-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Y component of the moment vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="LineMomentZ" class="parname"><b><code><span data-if="hdevelop" style="display:inline">LineMomentZ</span><span data-if="c" style="display:none">LineMomentZ</span><span data-if="cpp" style="display:none">LineMomentZ</span><span data-if="com" style="display:none">LineMomentZ</span><span data-if="dotnet" style="display:none">lineMomentZ</span><span data-if="python" style="display:none">line_moment_z</span></code></b> (input_control)  </span><span>point3d.z-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[float, int]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Z component of the moment vector of the corresponding
line.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="HomMat3D" class="parname"><b><code><span data-if="hdevelop" style="display:inline">HomMat3D</span><span data-if="c" style="display:none">HomMat3D</span><span data-if="cpp" style="display:none">HomMat3D</span><span data-if="com" style="display:none">HomMat3D</span><span data-if="dotnet" style="display:none">homMat3D</span><span data-if="python" style="display:none">hom_mat_3d</span></code></b> (output_control)  </span><span>hom_mat3d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HHomMat3D.html">HHomMat3D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Output transformation matrix.</p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
* In this example, we assume that correspondences between points
* (PX, PY, PZ) and Plücker lines (LX, LY, LZ) - (MX, MY, MZ) have
* already been computed.
point_pluecker_line_to_hom_mat3d ('rigid', PX, PY, PZ, LX, LY, LZ, \
                                  MX, MY, MZ, HomMat3D)
hom_mat3d_to_pose (HomMat3D, Pose)
* Compute the residual errors in 3D space, i.e., the distance of the
* points (PX, PY, PZ) transformed by HomMat3D from the lines.
affine_trans_point_3d (HomMat3D, PX, PY, PZ, TPX, TPY, TPZ)
distance_point_pluecker_line (TPX, TPY, TPZ, LX, LY, LZ, \
                              MX, MY, MZ, D)
* The same distance can also be computed by transforming the lines
* instead of the points.  Here, the inverse pose must be used.
pose_invert (Pose, PoseInv)
pose_to_dual_quat (PoseInv, DualQuat)
dual_quat_trans_line_3d (DualQuat, 'moment', LX, LY, LZ, MX, MY, MZ, \
                         TLX, TLY, TLZ, TMX, TMY, TMZ)
distance_point_pluecker_line (PX, PY, PZ, TLX, TLY, TLZ, \
                              TMX, TMY, TMZ, D)
</pre>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="get_line_of_sight.html"><span data-if="hdevelop" style="display:inline">get_line_of_sight</span><span data-if="c" style="display:none">get_line_of_sight</span><span data-if="cpp" style="display:none">GetLineOfSight</span><span data-if="com" style="display:none">GetLineOfSight</span><span data-if="dotnet" style="display:none">GetLineOfSight</span><span data-if="python" style="display:none">get_line_of_sight</span></a></code>, 
<code><a href="points_to_pluecker_line.html"><span data-if="hdevelop" style="display:inline">points_to_pluecker_line</span><span data-if="c" style="display:none">points_to_pluecker_line</span><span data-if="cpp" style="display:none">PointsToPlueckerLine</span><span data-if="com" style="display:none">PointsToPlueckerLine</span><span data-if="dotnet" style="display:none">PointsToPlueckerLine</span><span data-if="python" style="display:none">points_to_pluecker_line</span></a></code>, 
<code><a href="point_direction_to_pluecker_line.html"><span data-if="hdevelop" style="display:inline">point_direction_to_pluecker_line</span><span data-if="c" style="display:none">point_direction_to_pluecker_line</span><span data-if="cpp" style="display:none">PointDirectionToPlueckerLine</span><span data-if="com" style="display:none">PointDirectionToPlueckerLine</span><span data-if="dotnet" style="display:none">PointDirectionToPlueckerLine</span><span data-if="python" style="display:none">point_direction_to_pluecker_line</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>, 
<code><a href="affine_trans_point_3d.html"><span data-if="hdevelop" style="display:inline">affine_trans_point_3d</span><span data-if="c" style="display:none">affine_trans_point_3d</span><span data-if="cpp" style="display:none">AffineTransPoint3d</span><span data-if="com" style="display:none">AffineTransPoint3d</span><span data-if="dotnet" style="display:none">AffineTransPoint3d</span><span data-if="python" style="display:none">affine_trans_point_3d</span></a></code>, 
<code><a href="pose_invert.html"><span data-if="hdevelop" style="display:inline">pose_invert</span><span data-if="c" style="display:none">pose_invert</span><span data-if="cpp" style="display:none">PoseInvert</span><span data-if="com" style="display:none">PoseInvert</span><span data-if="dotnet" style="display:none">PoseInvert</span><span data-if="python" style="display:none">pose_invert</span></a></code>, 
<code><a href="pose_to_dual_quat.html"><span data-if="hdevelop" style="display:inline">pose_to_dual_quat</span><span data-if="c" style="display:none">pose_to_dual_quat</span><span data-if="cpp" style="display:none">PoseToDualQuat</span><span data-if="com" style="display:none">PoseToDualQuat</span><span data-if="dotnet" style="display:none">PoseToDualQuat</span><span data-if="python" style="display:none">pose_to_dual_quat</span></a></code>, 
<code><a href="dual_quat_trans_line_3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_trans_line_3d</span><span data-if="c" style="display:none">dual_quat_trans_line_3d</span><span data-if="cpp" style="display:none">DualQuatTransLine3d</span><span data-if="com" style="display:none">DualQuatTransLine3d</span><span data-if="dotnet" style="display:none">DualQuatTransLine3d</span><span data-if="python" style="display:none">dual_quat_trans_line_3d</span></a></code>, 
<code><a href="distance_point_pluecker_line.html"><span data-if="hdevelop" style="display:inline">distance_point_pluecker_line</span><span data-if="c" style="display:none">distance_point_pluecker_line</span><span data-if="cpp" style="display:none">DistancePointPlueckerLine</span><span data-if="com" style="display:none">DistancePointPlueckerLine</span><span data-if="dotnet" style="display:none">DistancePointPlueckerLine</span><span data-if="python" style="display:none">distance_point_pluecker_line</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="vector_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">vector_to_hom_mat3d</span><span data-if="c" style="display:none">vector_to_hom_mat3d</span><span data-if="cpp" style="display:none">VectorToHomMat3d</span><span data-if="com" style="display:none">VectorToHomMat3d</span><span data-if="dotnet" style="display:none">VectorToHomMat3d</span><span data-if="python" style="display:none">vector_to_hom_mat3d</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Foundation</p>
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